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Go2Py_SIM
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joystick header added

This commit is contained in:
Rooholla-KhorramBakht 2024-02-09 11:14:54 +08:00
parent c57c81290c
commit 2bdb5671ee
3 changed files with 47 additions and 1 deletions
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44
deploy/robot_ws/src/go2py_node/include/joystick.h Normal file
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@ -0,0 +1,44 @@
/*****************************************************************
Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
*****************************************************************/
#ifndef _UNITREE_LEGGED_JOYSTICK_H_
#define _UNITREE_LEGGED_JOYSTICK_H_
#include <stdint.h>
// 16b
typedef union {
struct {
uint8_t R1 : 1;
uint8_t L1 : 1;
uint8_t start : 1;
uint8_t select : 1;
uint8_t R2 : 1;
uint8_t L2 : 1;
uint8_t F1 : 1;
uint8_t F2 : 1;
uint8_t A : 1;
uint8_t B : 1;
uint8_t X : 1;
uint8_t Y : 1;
uint8_t up : 1;
uint8_t right : 1;
uint8_t down : 1;
uint8_t left : 1;
} components;
uint16_t value;
} xKeySwitchUnion;
// 40 Byte (now used 24B)
typedef struct {
uint8_t head[2];
xKeySwitchUnion btn;
float lx;
float rx;
float ry;
float L2;
float ly;
uint8_t idle[16];
} xRockerBtnDataStruct;
#endif // _UNITREE_LEGGED_JOYSTICK_H_

2
deploy/robot_ws/src/go2py_node/src/bridge.cpp
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@ -22,6 +22,7 @@
#include "unitree_go/msg/sport_mode_state.hpp"
#include "unitree_api/msg/request.hpp"
#include "common/ros2_sport_client.h"
#include "joystick.h"
class Custom: public rclcpp::Node
{
@ -79,6 +80,7 @@ class Custom: public rclcpp::Node
rclcpp::Publisher<unitree_go::msg::LowCmd>::SharedPtr lowcmd_puber;
unitree_go::msg::LowCmd lowcmd_msg;
uint64_t last_lowcmd_stamp = 0;
xRockerBtnDataStruct _keyData;
void init_lowcmd()
{

2
deploy/scripts/hw_start.sh
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@ -1 +1 @@
source /ros2_ws/install/setup.bash && ros2 launch /root/launch/hw.launch.py
source /dock_ws/install/setup.bash && ros2 launch /root/launch/hw.launch.py